Evaluate trajectory differential geometry (velocities, speed, curvature, turns)

Evaluate trajectory differential geometry (velocities, speed, curvature, turns)

Usage

eval_trajectory_derivatives(coeffs_x, coeffs_y, t_eval)

Arguments

coeffs_x

Polynomial coefficients for X

coeffs_y

Polynomial coefficients for Y

t_eval

Numeric vector of time evaluation points

Examples

# x(t) = t, y(t) = t^2
d <- eval_trajectory_derivatives(c(0, 1), c(0, 0, 1), c(0, 0.5, 1))
d$speed
#>          [,1]
#> [1,] 1.000000
#> [2,] 1.414214
#> [3,] 2.236068
d$curvature
#>           [,1]
#> [1,] 2.0000000
#> [2,] 0.7071068
#> [3,] 0.1788854